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Updated parameters of demo_catvehicle_mapping.launch

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matlabbe
2022-01-25 22:04:42 -05:00
parent 9c9e6f5edb
commit 7de423602f
1 changed files with 42 additions and 3 deletions
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launch/demo/demo_catvehicle_mapping.launch
+42 -3
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@@ -35,6 +35,39 @@
<arg name="rviz" default="true" />
<arg name="light" default="false" /> <!-- Don't record all scans if false -->
<arg name="altitude" default="0" /> <!-- assemble occupancy grids by altitude (radius in meters, 0=disabled) -->
<arg name="localization" default="false" />
<!-- Common parameters -->
<arg name="common_args" value="
--Rtabmap/DetectionRate 2
--Mem/STMSize 30
--Mem/LaserScanNormalK 10
--OdomF2M/ScanMaxSize 30000
--Odom/ScanKeyFrameThr 0.6
--Icp/VoxelSize $(arg cell_size)
--Icp/Iterations 10
--Icp/MaxTranslation 2
--Icp/RangeMin 1
--Icp/PointToPlaneGroundNormalsUp 0.9
--Icp/PointToPlaneRadius 0
--Icp/MaxCorrespondenceDistance 1
--Grid/ClusterRadius 1
--Grid/RangeMax 20
--Grid/RangeMin 2
--Grid/RayTracing true
--Grid/CellSize $(arg cell_size)
--Grid/PreVoxelFiltering false
--Grid/3D false
--Grid/DepthRoiRatios '0 0 0 0.3'
--Grid/MaxObstacleHeight 4
--Kp/RoiRatios '0 0 0 0.3'
--Vis/RoiRatios '0 0 0 0.3'
--RGBD/LinearUpdate 0.2
--RGBD/OptimizeMaxError 1
--GridGlobal/AltitudeDelta $(arg altitude)"/>
<arg if="$(arg localization)" name="clear_db" value="" />
<arg unless="$(arg localization)" name="clear_db" value="-d" />
<!-- RTAB-Map -->
<remap from="/catvehicle/grid_map" to="/catvehicle/map"/>
@@ -42,11 +75,17 @@
<arg name="namespace" value="catvehicle"/>
<!-- LiDAR SLAM parameters -->
<arg if="$(arg lidar)" name="args" value="-d --Rtabmap/DetectionRate 2 --Reg/Strategy 1 --OdomF2M/ScanMaxSize 30000 --Odom/ScanKeyFrameThr 0.6 --Icp/VoxelSize $(arg cell_size) --Icp/Iterations 10 --Icp/MaxTranslation 1 --Icp/RangeMin 1 --Icp/PointToPlaneGroundNormalsUp 0.9 --Icp/PointToPlaneRadius 0 --Icp/MaxCorrespondenceDistance 1 --Grid/ClusterRadius 1 --Grid/RangeMax 20 --Grid/RangeMin 1 --Grid/RayTracing true --Grid/CellSize $(arg cell_size) --Mem/LaserScanNormalK 10 --Grid/PreVoxelFiltering false --Grid/3D false --Kp/RoiRatios '0 0 0 0.3' --Vis/RoiRatios '0 0 0 0.3' --RGBD/LinearUpdate 0.2 --Grid/MaxObstacleHeight 4 --GridGlobal/AltitudeDelta $(arg altitude)"/>
<arg if="$(arg lidar)" name="args" value="$(arg clear_db) $(arg common_args)
--Reg/Strategy 1"/>
<!-- Visual SLAM parameters -->
<arg unless="$(arg lidar)" name="args" value="-d --Rtabmap/DetectionRate 2 --Reg/Strategy 0 --Icp/VoxelSize $(arg cell_size) --Grid/ClusterRadius 1 --Grid/RangeMax 20 --Grid/RangeMin 2 --Grid/RayTracing true --Grid/CellSize $(arg cell_size) --Grid/3D false --Kp/RoiRatios '0 0 0 0.3' --Vis/RoiRatios '0 0 0 0.3' --Grid/DepthRoiRatios '0 0 0 0.3' --Grid/NormalsSegmentation false --Grid/MaxObstacleHeight 4 --Grid/MaxGroundHeight 0.7 --Grid/NoiseFilteringRadius 0.5 --GridGlobal/AltitudeDelta $(arg altitude)"/>
<arg unless="$(arg lidar)" name="args" value="$(arg clear_db) $(arg common_args)
--Reg/Strategy 0
--Grid/NormalsSegmentation false
--Grid/MaxGroundHeight 0.7
--Grid/NoiseFilteringRadius 0.5"/>
<arg name="localization" value="$(arg localization)"/>
<arg name="subscribe_scan_cloud" value="$(arg lidar)"/>
<arg name="stereo" value="$(arg camera)"/>
<arg unless="$(arg camera)" name="depth" value="false"/>
@@ -78,7 +117,7 @@
<arg name="scan_cloud_assembling_fixed_frame" value="catvehicle/lidar_odom"/>
<arg name="scan_cloud_assembling_range_max" value="60"/>
<arg name="scan_cloud_assembling_voxel_size" value="$(arg cell_size)"/>
<arg name="scan_cloud_assembling_range_min" value="1"/>
<arg name="scan_cloud_assembling_range_min" value="2"/>
</include>
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find catvehicle)/config/catvehicle.rviz"/>